/*
 * Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */
#pragma once
#include <Eigen/Dense>
#include "cuda_runtime.h"

typedef struct {
  unsigned int minClusterSize;
  unsigned int maxClusterSize;
  float voxelX;
  float voxelY;
  float voxelZ;
  int countThreshold;
} extractClusterParam_t;

class cudaExtractCluster
{
  public:
    cudaExtractCluster(cudaStream_t stream = 0);
    ~cudaExtractCluster(void);
    int set(extractClusterParam_t param);
    int extract(float *cloud_in, int nCount, float *output, unsigned int *index);
  private:
    void *m_handle = NULL;
};

